Delta EtherCAT - Ecat_Slave_Motion_Get_Movemode

EtherCAT Programming Guide General Operation of Motion Axis
March, 2017 8-11
8
8.9 _ECAT_Slave_Motion_Get_MoveMode

Syntax
U16 PASCAL _ECAT_Slave_Motion_Get_MoveMode (U16 CardNo , U16 AxisNo , U16 SlotNo,
U8 *Mode)

Purpose
This is for acquiring the information of current motion mode.

Parameter
Name Data type Property Description
CardNo U16 Number Card No.
AxisNo U16 Number Node ID
SlotNo U16 Number Slot ID
Mode U8* Mode
1: Profile Position (PP) mode
2: Velocity mode
3: Profile Velocity (PV) mode
4: Profile Torque (PT) mode
6: Home mode
7: Interpolated Position (IP) mode
8: Cyclic Synchronous Position (CSP) mode
9: Cyclic Synchronous Velocity (CSV) mode
10: Cyclic Synchronous Torque (CST) mode

Example
U16 Status;
U16 CardNo=16,AxisNo=1,SlotNo=0;
U8 Mode;
Status = _ECAT_Slave_Motion_Get_MoveMode (CardNo, AxisNo, SlotNo, &Mode);